Development of a smart guide wire using an electrostrictive polymer: option for steerable orientation and force feedback

Design Optimization of Printed Multi-Layered Electroactive Actuators Used for Steerable Guidewire in Micro-Invasive Surgery

To treat cardiovascular diseases (i.e., a major cause of mortality after cancers), endovascular-technique-based guidewire has been employed for intra-arterial navigation. To date, most commercially available guidewires (e.g., Terumo, Abbott, Cordis, etc.) are non-steerable, which is poorly suited to the human arterial system with numerous bifurcations and angulations. To reach a target artery, surgeons frequently opt for several tools (guidewires with different size integrated into angulated catheters) that might provoke arterial complications such as perforation or dissection. Steerable guidewires would, therefore, be of high interest to reduce surgical morbidity and mortality for patients as well as to simplify procedure for surgeons, thereby saving time and health costs. Regarding these reasons, our research involves the development of a smart steerable guidewire using electroactive polymer (EAP) capable of bending when subjected to an input voltage. The actuation performance of the developed device is assessed through the curvature behavior (i.e., the displacement and the angle of the bending) of a cantilever beam structure, consisting of single- or multi-stack EAP printed on a substrate. Compared to the single-stack architecture, the multi-stack gives rise to a significant increase in curvature, even when subjected to a moderate control voltage. As suggested by the design framework, the intrinsic physical properties (dielectric, electrical, and mechanical) of the EAP layer, together with the nature and thickness of all materials (EAP and substrate), do have strong effect on the bending response of the device. The analyses propose a comprehensive guideline to optimize the actuator performance based on an adequate selection of the relevant materials and geometric parameters. An analytical model together with a finite element model (FEM) are investigated to validate the experimental tests. Finally, the design guideline leads to an innovative structure (composed of a 10-stack active layer screen-printed on a thin substrate) capable of generating a large range of bending angle (up to 190°) under an acceptable input level of 550 V, which perfectly matches the standard of medical tools used for cardiovascular surgery.

Haptic Feedback Device Using 3D-Printed Flexible, Multilayered Piezoelectric Coating for In-Car Touchscreen Interface

This study focuses on the development of a piezoelectric device capable of generating feedback vibrations to the user who manipulates it. The objective here is to explore the possibility of developing a haptic system that can replace physical buttons on the tactile screen of in-car systems. The interaction between the user and the developed device allows completing the feedback loop, where the user's action generates an input signal that is translated and outputted by the device, and then detected and interpreted by the user's haptic sensors and brain. An FEM (finite element model) via ANSYS multiphysics software was implemented to optimize the haptic performance of the wafer structure consisting of a BaTiO3 multilayered piezocomposite coated on a PET transparent flexible substrate. Several parameters relating to the geometric and mechanical properties of the wafer, together with those of the electrodes, are demonstrated to have significant impact on the actuation ability of the haptic device. To achieve the desired vibration effect on the human skin, the haptic system must be able to drive displacement beyond the detection threshold (~2 µm) at a frequency range of 100-700 Hz. The most optimized actuation ability is obtained when the ratio of the dimension (radius and thickness) between the piezoelectric coating and the substrate layer is equal to ~0.6. Regarding the simulation results, it is revealed that the presence of the conductive electrodes provokes a decrease in the displacement by approximately 25-30%, as the wafer structure becomes stiffer. To ensure the minimum displacement generated by the haptic device above 2 µm, the piezoelectric coating is screen-printed by two stacked layers, electrically connected in parallel. This architecture is expected to boost the displacement amplitude under the same electric field (denoted E) subjected to the single-layered coating. Accordingly, multilayered design seems to be a good alternative to enhance the haptic performance while keeping moderate values of E so as to prevent any undesired electrical breakdown of the coating. Practical characterizations confirmed that E=20 V/μm is sufficient to generate feedback vibrations (under a maximum input load of 5 N) perceived by the fingertip. This result confirms the reliability of the proposed haptic device, despite discrepancies between the predicted theory and the real measurements. Lastly, a demonstrator comprising piezoelectric buttons together with electronic command and conditioning circuits are successfully developed, offering an efficient way to create multiple sensations for the user. On the basis of empirical data acquired from several trials conducted on 20 subjects, statistical analyses together with relevant numerical indicators were implemented to better assess the performance of the developed haptic device.

Characterization of Surgical Tools for Specific Endovascular Navigation

PURPOSE

The aim of this work was to mechanically characterize a specific active guidewire and catheters that are commercially available, for further implementation into numerical simulation of endovascular navigation towards complex targets.

METHODS

For the guidewire, 3-point bending tests and bending with added masses were used to obtain the Young moduli of its various components. To study its behavior, the guidewire was activated under "ideal" conditions and its performance was investigated. As for the various catheters, they were measured and 3-point bending tests were conducted to determine their mechanical properties.

RESULTS & CONCLUSION

The Young moduli of the shaft and the distal tip of the guidewire were determined. We defined a suitable current intensity to activate the guidewire related to an optimal curvature. Then, the time of activation/deactivation was measured at 1.7 s. On the flip side, parts of the catheters were considered either elastic or viscoelastic. In all cases, the rigidity gradients along the various catheters were highlighted. The characterization of the aforementioned surgical tools provides the opportunity to simulate the endovascular nagivation process.

An Electromagnetically Controllable Microrobotic Interventional System for Targeted, Real-Time Cardiovascular Intervention

Robotic magnetic manipulation systems offer a wide range of potential benefits in medical fields, such as precise and selective manipulation of magnetically responsive instruments in difficult-to-reach vessels and tissues. However, more preclinical/clinical studies are necessary before robotic magnetic interventional systems can be widely adopted. In this study, a clinically translatable, electromagnetically controllable microrobotic interventional system (ECMIS) that assists a physician in remotely manipulating and controlling microdiameter guidewires in real time, is reported. The ECMIS comprises a microrobotic guidewire capable of active magnetic steering under low-strength magnetic fields, a human-scale electromagnetic actuation (EMA) system, a biplane X-ray imaging system, and a remote guidewire/catheter advancer unit. The proposed ECMIS demonstrates targeted real-time cardiovascular interventions in vascular phantoms through precise and rapid control of the microrobotic guidewire under EMA. Further, the potential clinical effectiveness of the ECMIS for real-time cardiovascular interventions is investigated through preclinical studies in coronary, iliac, and renal arteries of swine models in vivo, where the magnetic steering of the microrobotic guidewire and control of other ECMIS modules are teleoperated by operators in a separate control booth with X-ray shielding. The proposed ECMIS can help medical physicians optimally manipulate interventional devices such as guidewires under minimal radiation exposure.

Accurate Electroadhesion Force Measurements of Electrostrictive Polymers: The Case of High Performance Plasticized Terpolymers

Electroadhesion is a phenomenon ruled by many characteristic intrinsic parameters. To achieve a good adhesion, efficient and durable, a particular attention must be provided to the adhesion forces between the involved parts. In addition to the size and geometry of electrodes, parameters of materials such as dielectric constant, breakdown electric field, and Young's modulus are key factors in the evaluation of electroadhesion efficiency for electrostrictive polymers and electroactive devices. By analyzing these material parameters, a method is proposed to justify the choice of polymer matrices that are fit to specific electroadhesion applications. Another purpose of this work aims to demonstrate a possibility of accurately measuring the electroadhesion force. This physical parameter has been usually estimated through equations instead, because of the complexity in setup implementation to achieve highly precise measure. Comparisons based on the parameters criterion reveal that besides the intrinsic properties of material, some other parameters relating to its physical phenomena (e.g., saturation of dipolar orientation under high electric field leads to decrease dielectric constant), or physical behavior of the system (i.e., surface roughness reduces the active electrode area) must be thoroughly considered. Experimental results pointed out that plasticized terpolymer leads boosted electroadhesion performance compared to the other counterparts, up to 100 times higher than conventional polymers. The developed materials show high potential in applications of active displacement control for electrostrictive actuation.

Effect of beta-based sterilization on P(VDF-TrFE-CFE) terpolymer for medical applications

Electroactive polymers (EAP) are one of the latest generations of flexible actuators, enabling new approaches to propulsion and maneuverability. Among them, poly(vinylidene fluoride-trifluoroethylene-chlorofluoroethylene/chlorotrifluoroethylene), abbreviated terpolymer, with its multifunctional sensing and actuating abilities as well as its impressive electrostrictive behavior, especially when being doped with an plasticizer, has been demonstrated to be a good candidate for the development of low-cost flexible guidewire tip for endovascular surgery. To minimize the possibility of bacterial, fungal, or viral disease transmission, all medical instruments (especially components made from polymers) must be sterilized before introduction into the patient. Gamma/beta (γ/β) irradiation is considered to be one of the most efficient techniques for targeted reduction of microbials and viruses under low temperature, often without drastic alterations in device properties. However, radiation may cause some physical and chemical changes in polymers. A compromise is required to ensure sufficient radiation for microbial deactivation but minimal radiation to retain the material's properties. The main idea of this study aims at assessing the electromechanical performances and thermal/dielectric properties of β-irradiated terpolymer-based sterilization treatment. Ionizing β-rays did not cause any significant risk to the neat/plasticized terpolymers, confirming the reliability of such electrostrictive materials for medical device development.

Reducing leakage current and dielectric losses of electroactive polymers through electro-annealing for high-voltage actuation

The electro-annealed polymer, the E-TH sample, shows a reduction in leakage current of 80% for very high electric fields.

Enhanced Figures of Merit for a High-Performing Actuator in Electrostrictive Materials

The overall performance of an electrostrictive polymer is rated by characteristic numbers, such as its transverse strain, blocking force, and energy density, which are clearly limited by several parameters. Besides the geometrical impact, intrinsic material parameters, such as the permittivity coefficient as well as the Young’s modulus and the breakdown electric field, have strong influences on the actuation properties of an electroactive polymer and thus on the device’s overall behavior. As a result, an analysis of the figures of merit (FOMs) involving all relevant material parameters for the transverse strain, the blocking force, and the energy density was carried out, making it possible to determine the choice of polymer matrix in order to achieve a high actuator performance. Another purpose of this work was to demonstrate the possibility of accurately measuring the free deflection without the application of an external force and inversely measuring the blocking force under quasi-static displacement. The experimental results show good electrostrictive characteristics of the plasticized terpolymer under relatively low electric fields.